Mono-SLAM Based Method for Stitching Images of Sequence From UAV

Abstract

Abstract: It is an effective method to generate orthoimage from image sequence obtained from UAV. Most of the SfM-based methods for generating orthoimage are expensive computation and need hours or more to process image sequence, but the orthoimages generated finally are not satisfactory most of the time. An algorithm to stitch image sequence obtained from UAV incrementally was designed based on monocular SLAM generating orthoimage for large-scale instantaneously. Through the flow of SLAM, the system could estimate the position and attitude of the camera and the trajectory of UAV, meanwhile, generate a map of 3D point cloud. With the detection of loop-closure within SLAM and local optimization based on pose-graph, the system could minimize the impact of error accumulation and the computation for optimization, meanwhile, retain the accuracy. With the proposed adaptive weighted multiband algorithm, the system could fuse and visualize the orthoimage instantaneously. The experiment results demonstrate the efficient and effective of the proposed algorithm.

Key words: image sequence, image stitching, orthoimage, mono slam

CLC Number:

TP346.2

Ma Yuelong, Zhao Yong, Cao Xuefeng. Mono-SLAM Based Method for Stitching Images of Sequence From UAV[J]. Journal of System Simulation, 2016, 28(10): 2349-2355.

References 30

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